{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pathlib import Path\n",
    "from smpl_sim.smpllib.smpl_local_robot import SMPL_Robot\n",
    "import numpy as np\n",
    "import mujoco\n",
    "import PIL.Image\n",
    "from omegaconf import OmegaConf\n",
    "from smpl_sim.envs.humanoid_env import HumanoidEnv\n",
    "import mediapy as media\n",
    "\n",
    "\n",
    "YAML_CONFIG_STR = \"\"\"\n",
    "env:\n",
    "    task: HumanoidEnv\n",
    "    note: this is the default config file for humanoid_env\n",
    "    episode_length: 300\n",
    "    sim_timestep_inv: 450\n",
    "    control_frequency_inv: 15\n",
    "    control_mode: \"uhc_pd\"\n",
    "    power_scale: 1.0\n",
    "    root_height_obs: true\n",
    "    enable_early_termination: True\n",
    "    self_obs_v: 1\n",
    "    kp_scale: 1.0\n",
    "    kd_scale: 1.0\n",
    "    cycle_motion: False\n",
    "    power_reward: True\n",
    "    clip_actions: True\n",
    "    contact_bodies: [\"R_Ankle\", \"L_Ankle\", \"R_Toe\", \"L_Toe\"]\n",
    "    render_mode: \"rgb_array\"\n",
    "    camera: \"side\"\n",
    "    state_init: Default\n",
    "robot:\n",
    "    note: \"Humanoid robot with SMPL body model.\"\n",
    "    humanoid_type: smpl\n",
    "    has_upright_start: False\n",
    "    has_shape_obs: False\n",
    "    has_weight_obs: False\n",
    "    has_shape_variation: False\n",
    "    has_mesh: False\n",
    "    replace_feet: True\n",
    "    has_jt_limit: False\n",
    "    height_fix_mode: full\n",
    "    big_ankle: True\n",
    "    remove_toe: False\n",
    "    real_weight_porpotion_capsules: True\n",
    "    real_weight_porpotion_boxes: True\n",
    "    real_weight: True\n",
    "    box_body: True\n",
    "    smpl_data_dir: /private/home/pirotta/PerpetualHumanoidControl-MJX/data/smpl\n",
    "headless: False\n",
    "\"\"\"\n",
    "cfg = OmegaConf.create(YAML_CONFIG_STR)\n",
    "env = HumanoidEnv(cfg)\n",
    "obs, info = env.reset(seed=0)\n",
    "\n",
    "# robot_cfg = {\n",
    "#     \"mesh\": cfg.robot.has_mesh,\n",
    "#     \"replace_feet\": cfg.robot.replace_feet,\n",
    "#     \"rel_joint_lm\": cfg.robot.has_jt_limit,\n",
    "#     \"remove_toe\": cfg.robot.get(\"remove_toe\", False),\n",
    "#     \"freeze_hand\": cfg.robot.get(\"freeze_hand\", False),\n",
    "#     \"real_weight_porpotion_capsules\": cfg.robot.real_weight_porpotion_capsules,\n",
    "#     \"real_weight_porpotion_boxes\": cfg.robot.real_weight_porpotion_boxes,\n",
    "#     \"real_weight\": cfg.robot.real_weight,\n",
    "#     \"master_range\": cfg.robot.get(\"master_range\", 30),\n",
    "#     \"big_ankle\": cfg.robot.big_ankle,\n",
    "#     \"box_body\": cfg.robot.box_body,\n",
    "#     \"masterfoot\": cfg.robot.get(\"masterfoot\", False),\n",
    "#     \"upright_start\": cfg.robot.has_upright_start,\n",
    "#     \"model\": cfg.robot.humanoid_type,\n",
    "#     \"body_params\": {},\n",
    "#     \"joint_params\": {},\n",
    "#     \"geom_params\": {},\n",
    "#     \"actuator_params\": {},\n",
    "# }\n",
    "# robot = SMPL_Robot(\n",
    "#     robot_cfg,\n",
    "#     data_dir=cfg.robot.smpl_data_dir,\n",
    "# )\n",
    "\n",
    "# xml = robot.export_xml_string().decode(\"utf-8\")\n",
    "# mj_model = mujoco.MjModel.from_xml_string(xml)\n",
    "# mj_data = mujoco.MjData(mj_model)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/jpeg": 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      "image/png": 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",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=320x240>"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "mj_data = env.mj_data\n",
    "mj_model = env.mj_model\n",
    "\n",
    "mj_data.qpos[:] = 0\n",
    "mj_data.qvel[:] = 0\n",
    "mj_data.qpos[2] = 0.94\n",
    "mj_data.qpos[3:7] = np.array([0.5, 0.5, 0.5, 0.5])\n",
    "\n",
    "\n",
    "sim_timestep_inv = 450\n",
    "sim_timestep = 1.0 / sim_timestep_inv\n",
    "control_frequency_inv = 15\n",
    "mj_model.opt.timestep = sim_timestep\n",
    "\n",
    "# setup renderer\n",
    "mj_renderer = mujoco.Renderer(mj_model)\n",
    "mujoco.mj_forward(mj_model, mj_data)\n",
    "cam = mujoco.MjvCamera()\n",
    "mujoco.mjv_defaultCamera(cam)\n",
    "cam.distance, cam.azimuth, cam.elevation, cam.lookat = 3, 0, -20, mj_data.qpos[:3]\n",
    "mj_renderer.update_scene(mj_data, cam)\n",
    "pixels = mj_renderer.render()\n",
    "PIL.Image.fromarray(pixels)\n",
    "\n",
    "\n",
    "# _smpl_robot_info = {\n",
    "#     \"height\": _smpl_robot.height.item(),\n",
    "#     \"gender\": gender,\n",
    "#     \"weight\": mujoco.mj_getTotalmass(mj_model),\n",
    "#     \"beta\": beta.ravel()\n",
    "# }\n",
    "\n",
    "# for k, v in _smpl_robot_info.items():\n",
    "#     print(f\"{k}: {v}\")\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "0.0022222222222222222\n",
      "-496.5120037139217 489.5430634898371\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/0.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/1.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/2.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/3.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/4.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/5.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/6.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/7.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/8.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/9.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/10.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/11.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/12.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/13.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 0/14.\n",
      "\n",
      "-467.3715898341605 444.28733966754083\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 1/0.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 1/1.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 1/2.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 1/3.\n",
      "\n",
      "6\n",
      "stopped due to divergence (mjWARN_BADQACC) at timestep 1/4.\n",
      "\n",
      "6\n",
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      "\n"
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     "data": {
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type=\"video/mp4\"/>\n",
       "      This browser does not support the video tag.\n",
       "      </video></td></tr></table>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "frames = [mj_renderer.render()]\n",
    "num_steps = 10\n",
    "print(mj_model.opt.timestep)\n",
    "mj_model.opt.integrator = mujoco.mjtIntegrator.mjINT_RK4\n",
    "for time in range(num_steps):\n",
    "    action = np.random.rand(env.action_space.shape[0]) * 2 - 1\n",
    "    torque = env.power_scale * env.torque_lim * action\n",
    "    print(torque.min(), torque.max())\n",
    "    for internal_step in range(control_frequency_inv):\n",
    "        mj_data.ctrl[:] = torque\n",
    "        mujoco.mj_step(mj_model, mj_data)\n",
    "        if mj_data.warning.number.any():\n",
    "            warning_index = np.nonzero(mj_data.warning.number)[0].item()\n",
    "            print(warning_index)\n",
    "            warning = mujoco.mjtWarning(warning_index).name\n",
    "            print(f'stopped due to divergence ({warning}) at timestep {time}/{internal_step}.\\n')\n",
    "\n",
    "            # mj_data.qpos[:] = 0\n",
    "            # mj_data.qvel[:] = 0\n",
    "            # mj_data.qpos[2] = 0.94\n",
    "            # mj_data.qpos[3:7] = np.array([0.5, 0.5, 0.5, 0.5])\n",
    "            # mujoco.mj_forward(mj_model, mj_data)\n",
    "\n",
    "            # break\n",
    "    cam.lookat = mj_data.qpos[:3]\n",
    "    mj_renderer.update_scene(mj_data, cam)\n",
    "    pixels = mj_renderer.render()\n",
    "    frames.append(pixels)\n",
    "\n",
    "media.show_video(frames, fps=5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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